3D printed end of arm tooling (EOAT) for robotic automation.

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Abstract

This research furthers the practice of designing and manufacturing End of Arm Tooling
(EOAT) by utilizing a low cost additive manufacturing Fused Filament Fabrication (FFF) technique
to enable tool weight saving and provision of low cost EOATs on demand, thereby facilitating
zero inventory lean manufacturing. The materials used in this research for the fabrication of the
EOAT parts were Acrylonitrile butadiene styrene (ABS) and nylon with infill densities of 20%
and 100%. Three-point flexural tests were performed to determine the differences in strength and
stiffness between varying polymers, infill ratios, and a standard metal part. Additionally, potential
weight savings were identified and challenges with utilizing low cost FFF technologies are outlined.
A motion of programmed trajectories was executed utilizing a standard 6-axis robot and the power
consumption was evaluated. This study demonstrates the utility of using thermoplastic material
with the fabrication of 3D printed parts used in EOATs.